`Frame::mnId` is being repeated while mapping on loaded map (`Frame::nNextId` is not updated)

AlejandroSilvestri / osmap

Save and load orb-slam2 maps

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`Frame::mnId` is being repeated while mapping on loaded map (`Frame::nNextId` is not updated) #12

Closed mmajewsk closed 3 years ago

mmajewsk commented 5 years ago

So the KeyFrame::mnId is updated, but Frame::mnId may repeat in new frames. I suggest updating Frame::nNextId same way as here https://github.com/AlejandroSilvestri/osmap/blob/master/src/Osmap.cpp#L595

AlejandroSilvestri commented 3 years ago

@mmajewsk

Thank you. You are right.

Frame::mnId has no use in ORB-SLAM2, so it doesn't affect functionality, but anyone who are actually using Frame::mnId for a specific reason with modified code should apply this patch.